/*
 * logic_fast.h
 *
 *  Created on: 2013.01.09.
 *      Author: Peter
 */

#ifndef LOGIC_FAST_H_
#define LOGIC_FAST_H_

#define STATE_FST_START		 0x00U
#define STATE_FAST			 0x01U
#define STATE_CURVE_SLOW 	 0x02U
#define STATE_STOP			 0x03U
#define STATE_EMERGENCY_STOP 0x04U

#define SPEED_FAST			30
#define SPEED_CURVE			15

#define FAST_WALL_DETECT_TIMEOUT 5
#define FAST_WALL_DETECT_LIMIT 20.0f
#define FAST_WALL_LEFT 1
#define FAST_WALL_RIGHT 2
#define FAST_WALL_BOTH 3


#define ABS(x) (x<0 ? -x: x)

void LogicFast();

#endif /* LOGIC_FAST_H_ */
